Train formation and train group autonomous formation method and system

Abstract

The present invention discloses a method and system for autonomous marshaling of trains and train groups, which includes determining a train marshaling linked list; a first train and a second train communicate according to the train marshaling linked list to form a group train, completing autonomous train marshaling, wherein the first train is the group lead train or the group follower train, and the second train is the group follower train; determining the train marshaling linked list includes: determining the train group stored in the train marshaling linked list based on the communication linked list node information and the train operation plan; and determining the arrangement order of the train group based on the train operation plan. In the present invention, a wireless communication network is used between trains to achieve direct communication between trains, and marshaling is formed through communication between trains. At the same time, the operation plan can be optimized during the train marshaling process. The train operation plan is executed by the train and the optimization suggestions are fed back to the dispatching center. At the same time, the marshaling adjustment strategy is more timely.

Description

Technical Field

[0001] The present invention relates to the field of train control, and in particular to a train formation and a train group autonomous formation method and system. Background Art

[0002] Using group trains to control a train group, coordinating individual trains and achieving optimal operational control for the group trains, this significantly increases traffic density and maximizes capacity without increasing axle loads or train lengths, simply by modifying the train control system. Group train control can further shorten running intervals and increase traffic density. Implementing group control requires addressing the following issues: how many trains should constitute a group and how should these trains be sequenced?

[0003] CN113696943B discloses a control method and system based on train groups. However, in this solution, the group plan is formulated offline and sent directly to the on-board ATP by ground equipment. The on-board ATP performs grouping according to the group plan. As a result, the operation plan cannot be optimized during the train grouping process, the grouping adjustment strategy is not timely, and the grouping flexibility is low. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and system for autonomous marshaling of trains and train groups in order to improve the flexibility of marshaling in view of the deficiencies in the existing technology.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is: a train group autonomous formation method, comprising the following steps:

[0006] Determine a train marshaling linked list; the train marshaling linked list includes train groups, the train groups include communication linked list node information and a train operation plan; the arrangement order of the train groups is determined according to the train operation plan;

[0007] The first train and the second train communicate according to the train marshaling chain table to form a group train, completing autonomous train marshaling;

[0008] in,

[0009] The first train is a group head train or a group follower train, and the second train is a group follower train.

[0010] The present invention adjusts the arrangement order of train groups through the train operation plan itinerary marshaling linked table, and forms a marshaling plan through communication between trains. A group train is used to control a train group and coordinate all trains. Only by changing the train control system, the traffic density is greatly improved, the maximum transportation capacity is obtained, the efficiency of train marshaling is improved, and the operating cost is reduced. At the same time, the operation plan can be optimized during the train marshaling process, the marshaling adjustment strategy is more timely, and the stability and flexibility of the train group marshaling are guaranteed.

[0011] The train operation plan includes destination information and stop track information; two trains with the same destination information are grouped adjacently; and the departure order of the train group is determined according to the stop track information.

[0012] A new virtual marshaling linked list of group trains is formed according to the optimized adjustment of the arrangement order, that is, the subordinate relationship and operation attributes of each train are constructed through the linked list, thereby establishing the operation topology of the group train and merging multiple trains into a group train.

[0013] In the present invention, when the first train is the first train of a group, the specific implementation process of the first train and the second train communicating according to the train marshaling linked list to form a group train includes:

[0014] The first train in the train marshaling list sends the group head train ID and the following train information to the second train in the second order;

[0015] When the second train is not a following train in other group trains, the second train is set as a following train and a following train confirmation information is sent to the first train of the group;

[0016] The second train is used as the following train of the group head train to form a group train.

[0017] In the present invention, when the first train is a group following train, the specific implementation process of the first train and the second train communicating according to the train marshaling linked list to form a group train includes:

[0018] The first train ranked second in the train marshaling list sends the group's first following train ID and following train information to the second train ranked third;

[0019] When the second train does not belong to the following train in other group trains, setting the second train as the second following train and sending the following train determination information to the first following train;

[0020] The second train is used as a following vehicle of the first following vehicle to form a group train.

[0021] The present invention also provides a train group autonomous marshaling system, which includes:

[0022] The group dispatch center is used to send the train operation plan to the group train protection system;

[0023] The group train protection system is used to determine the train marshaling table according to the train operation plan, and control the first train and the second train to communicate according to the train marshaling table to form a group train, thereby completing the train autonomous marshaling.

[0024] The first train is the group leader or group follower, and the second train is the group follower.

[0025] The train marshaling linked list includes a train group, and the train group includes communication linked list node information and a train operation plan; the arrangement order of the train group is determined according to the train operation plan.

[0026] In the present invention, the group train protection system includes:

[0027] The application layer is used to determine the virtual marshaling list of group trains based on the train operation plan and dynamic tracking of the train group;

[0028] The security layer uses process data messages with cyclical life signals and performs CRC check on process data messages to avoid data packet transmission errors;

[0029] Communication layer, used for communication between group trains.

[0030] The present invention also provides a train group autonomous formation system, which includes a memory, a processor and a computer program stored in the memory; it is characterized in that the processor executes the computer program to implement the steps of the above-mentioned autonomous formation method of the present invention.

[0031] The present invention also provides a marshaling train, comprising a plurality of vehicles; each vehicle is provided with an on-board ATP; characterized in that the on-board ATPs of all vehicles communicate with a dispatching center; the dispatching center is configured to execute the steps of the above-mentioned autonomous marshaling method of the present invention.

[0032] The present invention also provides a computer-readable storage medium having a computer program / instruction stored thereon; when the computer program / instruction is executed by a processor, the steps of the autonomous grouping method of the present invention are implemented.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows: in the present invention, a wireless communication network is used between trains to realize direct communication between trains, the arrangement order of the train group is adjusted through the train operation plan itinerary marshaling list, and a marshaling plan is formed through communication between trains. A group train is used to control a train group, and each train is coordinated. Only by changing the train control system, the traffic density is greatly improved, the maximum transportation capacity is obtained, the efficiency of train marshaling is improved, and the operating cost is reduced. At the same time, the operation plan can be optimized during the train marshaling process. The train operation plan is executed by the train and the optimization suggestions are fed back to the dispatching center. The marshaling adjustment strategy is more timely, ensuring the stability of the train group marshaling. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the process flow of the autonomous train marshaling method in an embodiment of the present invention is shown;

[0035] Figure 2 A schematic diagram of the communication connection between the first vehicle and the following vehicles in a group in an embodiment of the present invention is shown;

[0036] Figure 3 A schematic diagram of communication connection between the leading vehicle and the following vehicles (first following vehicle and second following vehicle) of a group and two following vehicles in an embodiment of the present invention is shown;

[0037] Figure 4 A schematic diagram of the structure of an autonomous train marshaling system in an embodiment of the present invention is shown;

[0038] Figure 5 A schematic diagram of GTP communication between a group dispatch center and a group train protection system in an embodiment of the present invention is shown;

[0039] Figure 6 A schematic diagram of the autonomous marshalling module structure of the group train protection system GTP in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0041] In this article, the terms "first", "second" and other similar words are not intended to imply any order, quantity and importance, but are merely used to distinguish different elements. In this article, the terms "one", "an" and other similar words are not intended to indicate that there is only one of the things described, but rather to indicate that the relevant description is only for one of the two things described, and the things described may have one or more. In this article, the terms "comprise", "include" and other similar words are intended to indicate logical relationships, and cannot be regarded as indicating relationships in spatial structure. For example, "A includes B" is intended to indicate that B logically belongs to A, and does not mean that B is spatially located inside A. In addition, the meanings of the terms "comprise", "include" and other similar words should be regarded as open, rather than closed. For example, "A includes B" is intended to indicate that B belongs to A, but B does not necessarily constitute the whole of A, and A may also include other elements such as C, D, and E.

[0042] Example 1

[0043] Embodiment 1 of the present invention provides a method for autonomous train formation. Figure 1 The figure shows a flow chart of the autonomous train marshaling method in embodiment 1 of the present invention. Figure 1 The method of this embodiment includes: determining a train marshaling list; the first train and the second train communicate according to the train marshaling list to form a group train, and complete the autonomous train marshaling, wherein the first train is the group head train or the group follower train, and the second train is the group follower train.

[0044] In Example 1 of the present invention, a group train refers to a train group consisting of one or more physical trains, with each train within the group being coordinated and controlled; group marshaling refers to the process of forming a train group. In this embodiment of the present invention, a group train is used to control a train group, coordinating the trains and achieving group optimization. This significantly increases traffic density and maximizes transportation capacity without increasing axle load or train length, simply by modifying the train control system.

[0045] Specifically, the first train is the first train of the group, and the first train and the second train communicate according to the train marshaling linked list to form a group train, including:

[0046] The first train in the train marshaling list sends the group head train ID and the following train information to the second train in the second order;

[0047] The second train determines that it is not a following train in other group trains, sets itself as a following train and sends a following train confirmation message to the first train of the group;

[0048] The second train serves as the following train of the group's first train to form a group train.

[0049] Specifically, the first train is a group following train, and the first train and the second train communicate according to the train marshaling linked list to form a group train, including:

[0050] The first following train ranked second in the train marshaling linked list sends the first following train ID and following train information of the group to the second following train ranked third;

[0051] The second train determines that it is not a following train in other group trains, sets itself as a second following train and sends following train confirmation information to the first following train;

[0052] The second train serves as the following vehicle of the first following vehicle to form a group train.

[0053] Specifically, determining the train marshaling linked list also includes optimizing the arrangement sequence: based on the train operation plan destination, two trains with the same destination are grouped adjacently; and the departure order of the train group is arranged based on the train operation plan stop track information. Based on the optimized arrangement sequence, the train operation plan is adjusted, and the train marshaling linked list is redefined based on the new train operation plan. Reorganizing the group trains based on the optimized marshaling linked list can further improve the efficiency of the marshaling process.

[0054] Table 1 of Example 1 of the present invention illustrates a structural diagram of the communication linked list. In Table 1, the trains to be assembled include train A, train B, train C, and train D. In Example 1 of the present invention, the number of trains in the communication linked list is only an example. In actual application, a train group can be formed, and the number of trains is ≥2.

[0055] Table 1 Communication chain diagram

[0056] Train A Train B Train C Train D

[0057] In Example 1 of the present invention, wireless communication is carried out between the first train and the second train through a wireless communication network, and the trains communicate within the station to form a communication network. The communication network can be implemented using LTE V2X technology, which defines two communication modes for vehicle applications: centralized (LTE-V-Cell) and distributed (LTE-V-Direct). Centralized is also called cellular, which requires a base station as a control center. The centralized defines the communication mode between the vehicle and the roadside communication unit and the base station equipment. The distributed is also called direct, which does not require a base station as support. The distributed defines the communication mode between vehicles. Therefore, the use of LTE V2X technology can realize both communication between trains and stations and direct communication between trains.

[0058] Specifically, in this embodiment, determining the train marshaling linked list includes: determining the train group stored in the train marshaling linked list according to the communication linked list node information and the train operation plan; and determining the arrangement order of the train group according to the train operation plan. In Example 1 of the present invention, the train operation plan includes the following contents: train number, number of stations the train passes through, name of the station the train passes through, time for picking up trains at the station the train passes through, track of the station the train passes through, time for departure of trains at the station the train passes through, type of receiving and dispatching trains, and the type of receiving and dispatching trains is divided into arrival and departure, passing, originating, arrival and termination, and whether operation is divided into non-operation and operation. In Example 1 of the present invention, the specific contents of the train operation plan are only exemplified. In actual application, other contents related to train operation in the train operation plan are also within the protection scope of the present invention.

[0059] The train operation plan in Example 1 of the present invention has the following constraints: Constraint 1: for trains with arrival and departure types, the parking time needs to be greater than the operation time; Constraint 2: the train type must match the track type.

[0060] In Example 1 of the present invention, the specific process of autonomous train formation is also described:

[0061] 1. Marshalling linked list initialization

[0062] Traverse each node information in the communication linked list and compare the next station destination in the train operation plan. If they are the same, they can be marshaled and stored in the marshaling linked list.

[0063] 2. Marshalling linked list sorting

[0064] According to the departure time in the operation plan, the trains are arranged in order. In the embodiment of the present invention, a schematic diagram 2 of the marshaling chain diagram showing the arrangement of the order is described:

[0065] Table 2

[0066] Train number Sorting Train A 2 Train B 1 Train C 3

[0067] In Table 2, Train B's departure time is first, and Train B is ranked first in the departure order; Train A's departure time is second, and Train A's departure order is second; Train C's departure time is last, and Train C's departure order is third. In the embodiments of the present invention, the number of trains and departure times are merely illustrative, and the number of trains and the order in which they are arranged are not specifically limited.

[0068] 3. Confirm the marshalling chain table to form a group train

[0069] In Example 1 of the present invention, examples are given for describing the communication between the first vehicle and the following vehicle in the group, and the communication between two following vehicles:

[0070] Figure 2 It shows a schematic diagram of the communication connection between the first vehicle and the following vehicles in the group in an embodiment of the present invention. Figure 2 In the example, the marshaling chain table includes two trains, Train A and Train B. Train B, which is ranked first in the marshaling chain table, is set as the group leader and sends the message "Group 1 leader ID, following train 1" to Train A, which is ranked second in the marshaling chain table. After receiving the message, Train A determines that it does not belong to the following train in other groups, so it sets itself as following train 1, following the group 1 leader ID, and sends the message "I am following train 1" to Train B. Train B confirms, and then Train A is controlled as following train 1.

[0071] Figure 3 The figure shows a schematic diagram of the communication connection between the first vehicle and the following vehicles (the first following vehicle and the second following vehicle) in the group in an embodiment of the present invention, Figure 3 The communication between the first train in the group and the first following train, the communication between the first train in the group and the second following train, and the communication between the first following train and the second following train are included in the marshaling chain table. Train A, Train B, and Train C are arranged in order according to the departure time.

[0072] Among them, the communication between the group's first train B and the first following train A has been described above. In this embodiment of the present invention, the communication between the group's first train B and the second following train C, and the first following train A and the second following train C are specifically described.

[0073] Train B, the first train in the group, sends the message "Group 1 first train ID, following train 2" to Train C, which is ranked third in the marshaling chain. After receiving this message, Train C determines that it is not a following train in any other group, so it sets itself as Following Train 2, following the ID of Group 1 first train, and sends the message "I am Following Train 2" to Train B. Train B confirms this, and then Train C is controlled as Following Train 2.

[0074] Train A, the first following car in the group, sends the message "First following car ID in group 1, following train 2" to train C, which is ranked third in the marshaling list. After receiving this message, train C determines that it is not a following train in any other group, so it sets itself as following train 2, following the first following car ID in group 1 (train A), and sends the message "I am following train 2" to train A. Train A confirms this, and then train C is controlled as following train 2.

[0075] It should be noted that during the group train formation process, two or three follower cars are included. One of the follower cars follows the group leader car, and the other follower cars follow the follower car in turn. For ease of description, the follower cars in this group formation are divided into two types: one follows the group leader car, and the other follows the other follower cars.

[0076] To distinguish these two types of following vehicles, the following vehicle immediately following the group leader is called the first following vehicle, and the following vehicle immediately following any other following vehicle is called the second following vehicle. In other words, both the first following vehicle and the second following vehicle are following vehicles. The first following vehicle is the following vehicle immediately following the group leader, so there is only one first following vehicle. The second following vehicle is the following vehicle immediately following the following vehicle, so there can be multiple second following vehicles. The term "first" here serves only as an identifier, distinguishing between the following vehicle immediately following the group leader and any other following vehicles. "First" has no other substantive meaning.

[0077] The term "second" is used here for identification purposes only, distinguishing between following trains that are not coupled to the group's lead train and those that are coupled to it. "Second" has no other substantive meaning. If the group's lead train is the first train in the train formation (i.e., the lead train), then the first following train is the second train, and the third and subsequent trains are the second following trains.

[0078] Example 2

[0079] Embodiment 2 of the present invention provides an autonomous train marshaling system. Figure 4 FIG2 shows a schematic diagram of the structure of the autonomous train marshaling system in Example 2 of the present invention. Figure 4 In the embodiment 2, the system includes: a linked list determination unit and a group determination unit, the linked list determination unit is used to determine the train formation linked list; the group determination unit is connected to the linked list determination unit, and is used to control the first train and the second train to communicate according to the train formation linked list to form a group train, and complete the autonomous train formation, wherein the first train is the group head train or the group follower train, and the second train is the group follower train.

[0080] Specifically, the linked list determination unit includes a first module and a second module. The first module is used to determine the train group stored in the train formation linked list based on the communication linked list node information and the train operation plan; the second module is used to determine the arrangement order of the train group based on the train operation plan.

[0081] Specifically, the first train is the first train of the group, and the group determination unit is configured to control the first train and the second train to communicate according to the train marshaling linked list to form a group train, including:

[0082] The first train in the train marshaling list sends the group head train ID and the following train information to the second train in the second order;

[0083] The second train determines that it is not a following train in other group trains, sets itself as a following train and sends a following train confirmation message to the first train of the group;

[0084] The second train serves as the following train of the group's first train to form a group train.

[0085] Specifically, the first train is a group following train, and the group determining unit is configured to control the first train and the second train to communicate according to the train marshaling linked list to form a group train, including:

[0086] The first following train ranked second in the train marshaling linked list sends the first following train ID and following train information of the group to the second following train ranked third;

[0087] The second following train determines that it is not a following train in other group trains, sets itself as the second following train and sends the following train confirmation information to the first following train;

[0088] The second following train serves as a following train of the first following train to form a group train.

[0089] The functions of both the linked list determination unit and the group determination unit in the embodiments of the present invention are implemented through the Group Train Protection (GTP) system. The onboard ATP forms a train marshaling linked list based on the operation plan issued by the Group Traffic Control (GTC) dispatch center, proactively identifies trains at the same station, and marshals them according to the aforementioned autonomous train marshaling strategy. The GTC monitors trains and equipment, adjusts plans based on their status and operational scheduling requirements, and can automatically trigger routes based on the operation plan, specifying group plans with the goal of maximizing transport capacity, and managing group trains.

[0090] Example 3

[0091] Figure 5 FIG. 1 shows a schematic diagram of GTP communication between the dispatching center and the group train protection system in Example 3 of the present invention. Figure 5 In the process, the group dispatching center GTC sends the train operation plan to the group train protection system GTP. The group train protection system GTP controls the train to be marshaled. The train numbered T01 and the train numbered T02 are marshaled in the order of the marshaling link table to form a train group. After the group is formed, each train shares the group information and uses synchronous control or collaborative control algorithms according to the distance to exchange group information. Figure 5In the figure, IG and IIG represent tracks. The train numbered T01 is parked on track IG, and the train numbered T02 is parked on track IIG. Specifically, train T01 and train T02 are both located at the station; XJG, IAG, IDG, 2DG, IBG, and SJG represent sections; YX, X, S1, SII, X1, XII, S, and YS represent signals.

[0092] Embodiment 3 of the present invention provides an autonomous train marshaling system, the system comprising a group dispatching center and a group train protection system, wherein:

[0093] The group dispatch center is used to send the train operation plan to the group train protection system;

[0094] The group train protection system is used to determine the train marshaling chain table according to the train operation plan, and is also used to control the first train and the second train to communicate according to the train marshaling chain table to form a group train and complete the train autonomous marshaling.

[0095] The first train is the first train of the group or the following train of the group, and the second train is the following train of the group.

[0096] Specifically, the group train protection system is used to determine the train marshaling list according to the train operation plan, including: determining the train group stored in the train marshaling list according to the communication list node information and the train operation plan; and determining the arrangement order of the train group according to the train operation plan.

[0097] Specifically, the group train protection system includes an application layer, a security layer, and a communication layer. The application layer is used to determine the train marshaling list according to the train operation plan; the security layer is used to avoid duplication, delay, loss, insertion, and disorder of data packets; and the communication layer is used for communication.

[0098] Specifically, in this embodiment, two trains with the same destination are grouped adjacent to each other according to the train operation plan destination; and the departure order of the train group is arranged according to the train operation plan stop track information.

[0099] In the third embodiment of the present invention, the specific structure of the group train protection system GTP is also described. The onboard GTP includes an autonomous marshaling module. Figure 6 The figure shows the structure of the autonomous grouping module of the vehicle-mounted GTP in an embodiment of the present invention. Figure 6 The autonomous marshaling module protocol stack is divided into three layers. Both Train A and Train B include the application layer, security layer, and communication layer. The communication layer is responsible for adaptive communication; the security layer is used to prevent packet duplication, delay, loss, insertion, and reordering; and the application layer is responsible for implementing autonomous marshaling. Trains A and B form a group train through autonomous marshaling at the application layer and adaptive communication at the communication layer.

[0100] Specifically, in Example 3 of the present invention:

[0101] If the two trains have the same destination under the same operation plan, the two trains can be marshaled adjacent to each other.

[0102] Arrange the departure order according to the track information of the operation plan (impact of switch movement).

[0103] If the above optimization strategy is adopted, the operation plan, such as departure times and routes, will be adjusted. The train will then feed the adjusted operation plan back to the dispatching center. The dispatching center will then confirm that the optimization is feasible and issue the optimized command to the train. The train will then operate according to the new operation plan. The train will combine the node information in the communication table based on the new operation plan and determine the order of the train group according to the new operation plan, forming a new communication table. The group trains will be arranged and combined using the new communication table to form a new train group. By optimizing the train grouping table order, the train will execute the train operation plan and feed back the optimization suggestions to the dispatching center. This allows for more timely formation adjustment strategies, ensuring the stability and efficiency of the train group formation.

[0104] The autonomous train formation method and system of the embodiments of the present invention use LTE V2X to achieve direct communication between trains, adjust the arrangement order of train groups through the train operation plan itinerary formation chain table, and form a formation plan through communication between trains. Group trains are used to control a train group and coordinate all trains. Only by changing the train control system, the traffic density is greatly improved, the maximum transportation capacity is obtained, the efficiency of train formation is improved, and the operating cost is reduced. At the same time, the operation plan can be optimized during the train formation process. The train operation plan is executed by the train and the optimization suggestions are fed back to the dispatching center. The formation adjustment strategy is more timely, and the stability of the train group formation is guaranteed.

[0105] Example 4

[0106] Embodiment 4 of the present invention provides a train autonomous formation system corresponding to the above-mentioned embodiment 1, including a memory, a processor and a computer program stored in the memory; the processor executes the computer program in the memory to implement the steps of the method in the above-mentioned embodiment 1.

[0107] In some implementations, the memory may be a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage.

[0108] In other implementations, the processor may be a central processing unit (CPU), a digital signal processor (DSP), or other general-purpose processors, which are not limited herein.

[0109] Example 5

[0110] Embodiment 5 of the present invention provides a marshaled train comprising a plurality of vehicles; each vehicle is provided with an onboard ATP; the onboard ATPs of all vehicles communicate with a dispatching center; the dispatching center is configured to execute the steps of the method of embodiment 1 above.

[0111] In this embodiment, the on-vehicle ATP communicates with the dispatch center via a wireless communication network, and the on-vehicle ATPs also communicate with each other via a wireless communication network.

[0112] In this document, the terms "embodiment," "present embodiment," "preferred embodiment," and "one embodiment" do not imply that the description applies only to a specific embodiment, but rather indicate that the description may also apply to one or more other embodiments. Those skilled in the art should understand that any description of a particular embodiment herein may be substituted, combined, or otherwise combined with the description of one or more other embodiments. New embodiments resulting from such substitution, combination, or other combination are readily conceivable by those skilled in the art and fall within the scope of protection of the present invention.

[0113] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A train group autonomous formation method, characterized in that: The following steps are involved: Determine a train marshaling linked list; the train marshaling linked list includes train groups, the train groups include communication linked list node information and a train operation plan; the arrangement order of the train groups is determined according to the train operation plan; The first train and the second train communicate according to the train marshaling linked list to form a group train, completing autonomous train marshaling; in, The first train is the leading train or the following train of the group, and the second train is the following train of the group; The train operation plan includes destination information and stop track information; The optimization adjustment of the arrangement sequence includes: two trains with the same destination information are grouped adjacently; the departure sequence of the train group is determined according to the stop track information; A new train operation plan is formed based on the optimized adjustment of the arrangement order, and a new group train virtual marshaling linked list is re-determined based on the new train operation plan. The subordinate relationship and operation attributes of each train are constructed through the virtual marshaling linked list, thereby establishing the operation topology of the group train and merging multiple trains into a group train.

2. The train group autonomous formation method according to claim 1, characterized in that: When the first train is the first train of a group, a specific implementation process of the first train and the second train communicating according to the train marshaling linked list to form a group train includes: The first train in the train marshaling list sends the group head train ID and the following train information to the second train in the second order; When the second train is not a following train in other group trains, the second train is set as a following train and a following train confirmation information is sent to the first train of the group; The second train is used as the following train of the group head train to form a group train.

3. The train group autonomous formation method according to claim 1, characterized in that: When the first train is a group following train, a specific implementation process of the first train and the second train communicating according to the train marshaling linked list to form a group train includes: The first train ranked second in the train marshaling list sends the group's first following train ID and following train information to the second train ranked third; When the second train does not belong to the following train in other group trains, setting the second train as the second following train and sending the following train determination information to the first following train; The second train is used as a following vehicle of the first following vehicle to form a group train.

4. A train group autonomous marshaling system, characterized in that: include: The group dispatch center is used to send the train operation plan to the group train protection system; The group train protection system is used to determine the train marshaling table according to the train operation plan, and control the first train and the second train to communicate according to the train marshaling table to form a group train, thereby completing the autonomous train marshaling. The first train is the group leader or group follower, and the second train is the group follower. The train marshaling linked list includes train groups, and the train groups include communication linked list node information and a train operation plan; the arrangement order of the train groups is determined according to the train operation plan; The train operation plan includes destination information and stop track information; The optimization adjustment of the arrangement sequence includes: two trains with the same destination information are grouped adjacently; the departure sequence of the train group is determined according to the stop track information; A new train operation plan is formed based on the optimized adjustment of the arrangement order, and a new group train virtual marshaling linked list is re-determined based on the new train operation plan. The subordinate relationship and operation attributes of each train are constructed through the virtual marshaling linked list, thereby establishing the operation topology of the group train and merging multiple trains into a group train.

5. The train group autonomous marshaling system according to claim 4, characterized in that: The group train protection system includes: The application layer is used to determine the virtual marshaling list of group trains based on the train operation plan and dynamic tracking of the train group; The security layer uses process data messages with cyclical life signals and performs CRC check on process data messages to avoid data packet transmission errors; Communication layer, used for communication between group trains.

6. A train group autonomous marshaling system, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory; wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 3.

7. A train set comprising a plurality of vehicles; each vehicle is provided with an onboard ATP; characterized in that: The onboard ATPs of all vehicles communicate with a dispatch center; the dispatch center is configured to execute the steps of the method according to any one of claims 1 to 3.

8. A computer-readable storage medium having a computer program / instruction stored thereon; characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

Images